CN207643142U - A kind of detachable anthropomorphic robot - Google Patents
A kind of detachable anthropomorphic robot Download PDFInfo
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- CN207643142U CN207643142U CN201721853269.XU CN201721853269U CN207643142U CN 207643142 U CN207643142 U CN 207643142U CN 201721853269 U CN201721853269 U CN 201721853269U CN 207643142 U CN207643142 U CN 207643142U
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Abstract
The utility model discloses a kind of detachable anthropomorphic robots, including head assembly, arm component, body assembly, control case assembly, section bar component and chassis assembly, body assembly includes waist platform, arm connecting platform and head connecting platform, section bar component includes leg proximate matter and chassis proximate matter, leg proximate matter lower end and chassis proximate matter link together with the removable installation of chassis assembly respectively, leg proximate matter upper end removably mutually dismounts with the waist platform of body assembly and links together, arm component is connect with arm connecting platform phase reassembling type, head assembly links together with head connecting platform phase reassembling type.Dismountable, it is convenient to carry, and reduces transportation cost, reduces maintenance cost, and installing and dismounting is safeguarded more convenient flexible.
Description
Technical field
The utility model is related to a kind of robots, more particularly, to a kind of anthropomorphic robot.
Background technology
Develop with the product of anthropomorphic robot, more and more anthropomorphic robots occur on the market, however existing city
Anthropomorphic robot on field deposits complicated, basic anthropomorphic robot using integral structure after manufacture itself, it is difficult to tear open
Unload even non-dismountable, processing and transportation cost height.
Utility model content
The utility model is that there is the basic apery machines using integral structure after manufacture for the existing anthropomorphic robot of solution
Device people, it is difficult to dismounting is even non-dismountable, processing and the present situations such as transportation cost height and one kind for providing is dismountable, carry just
Victory reduces transportation cost, reduces maintenance cost, and installing and dismounting safeguards more convenient flexible detachable anthropomorphic robot.
Used specific technical solution is the utility model to solve above-mentioned technical problem：A kind of detachable apery machine
Device people, it is characterised in that：Including head assembly, arm component, body assembly, case assembly, section bar component and chassis assembly are controlled,
Body assembly includes waist platform, arm connecting platform and head connecting platform, and section bar component includes leg proximate matter and chassis type
Material, leg proximate matter lower end and chassis proximate matter link together with the removable installation of chassis assembly respectively, and leg proximate matter upper end can
Dismantle mutually dismounted with body assembly waist platform links together, and arm component and arm connecting platform phase reassembling type connect
It connects, head assembly links together with head connecting platform phase reassembling type.Body assembly flexibly can easily be pacified with section bar component
Dress or dismounting, reduce packed and transported overall space size, can also dismantle section bar component, drop to a greater extent when necessary
Low packed and transported bulk demand, it is convenient to carry, and reduces transportation cost, reduces maintenance cost, and installing and dismounting is safeguarded more；It is main
Body component and head assembly, arm component are also Demountable, promote the flexible convenience of entire packed and transported.
Preferably, the section bar component uses aluminum profile assemblies structure.The light just hardness of aluminium section bar is enough, molding side
Just, manufacturing cost is low, convenient and flexible installation, reduces robot overall weight.
Preferably, the chassis assembly is equipped with penetrating mounting holes and the installation of chassis proximate matter of installation leg proximate matter
Hole.Improve the flexible convenience of installing and dismounting of chassis assembly and section bar component.
Preferably, the chassis assembly includes upper plate, lower plate, gusset plate, chassis idler wheel and induction robot
The chassis assembly sensor of run signal, chassis idler wheel include driving wheel and follower, are closed in upper plate, lower plate and gusset plate
It encloses and sets chassis proximate matter in the tray cavity to be formed.The flexible convenience of installing and dismounting between chassis assembly and section bar component is improved, is carried
The flexible validity of operational safety of high robot chassis assembly
Preferably, the chassis assembly sensor includes laser radar, infrared distance sensor and supersonic sensing
Device.Improve the flexible validity of safety run at robot chassis.
Preferably, the leg proximate matter uses two groups of leg proximate matters, every group of leg proximate matter is by three vertical leg type material lists
Body is constituted, and three vertical leg type material monomers are in triangular distribution arrangement architecture in the horizontal plane；Chassis proximate matter includes that chassis supports are vertical
Column section and chassis supports horizontal profile, connecting base plate support level proximate matter between chassis supports column section, chassis supports are vertical
Column section uses four columns proximate matter monomer, chassis supports horizontal profile to use more horizontal profile monomers, more horizontal profiles
Monomer connects into I-shaped horizontal shore structure, four ends and the four columns proximate matter of I-shaped horizontal shore structure
Monomer is connected together, and forms chassis proximate matter.Support firmness is installed in the connection improved between leg proximate matter and chassis proximate matter
With the flexible convenience of dismounting.
Preferably, the body assembly includes preceding skeleton, back skeleton, steering engine of rolling over, skeleton connecting pole, closes
Page, rotatable platform, steering engine component of bending over, crankshaft-link rod component of bending over, flange turntable and waist platform, preceding skeleton and back skeleton it
Between connecting framework connecting pole, preceding skeleton and back skeleton upper end be equipped with fold link block, preceding skeleton turn over folding link block and after
On skeleton turn down link block relative orientation setting, preceding skeleton upper end, back skeleton upper end, preceding skeleton turn over folding link block and after
Link block is turned down on skeleton and collectively forms head connecting platform, and composition is set at the upper end both sides side position of preceding skeleton and back skeleton
Link block, the upper end that skeleton and back skeleton clamping are formed before left and right arm rotation steering engine is located at are rolled in the rollover of arm connecting platform
In clamping cavity, preceding skeleton bottom end on rotatable platform, bends over crankshaft-link rod component one end and to bend over steering engine by hinge connection
Component is connected, and the crankshaft-link rod component other end of bending over is connected with back skeleton, and crankshaft-link rod component of bending over is in steering engine group of bending over
Part effect is lower to drive prebone frame and back skeleton to make bending movements around hinge axis.Improve body assembly lean forward or backward wing is flexible
Validity improves the flexible convenience of installing and dismounting of body assembly and head assembly, arm component etc..
Preferably, the crankshaft-link rod component of bending over includes crank connecting link, linking arm and bearing block, bearing block is with after
Skeleton is connected together, and linking arm one end is connected together by connecting shaft and bearing block, the linking arm other end and crank
Connecting rod outer end is connected together；Steering engine component of bending over includes bending over steering engine and to bend over steering wheel, and steering wheel of bending over is located at steering engine of bending over
On, crank connecting link inner end is set on steering wheel of bending over.Improve the flexible validity of body actions such as lean forward or swing back for realizing the upper part of the body.
It is fixed preferably, the arm component includes shoulder steering engine, large arm rotating member, large arm steering engine, large arm steering engine
Part, forearm steering engine, forearm rotating member, wrist steering engine and wrist rotation part set shoulder steering engine on large arm rotating member, and shoulder steering engine is set
On shoulder rotating member, large arm steering engine and large arm steering engine fixing piece are set on large arm rotating member, forearm is set on large arm steering engine fixing piece
Steering engine, forearm rotating member are set on forearm steering engine, and wrist steering engine is set on forearm rotating member, wrist rotation part is set on wrist steering engine, greatly
Arm rotating member is connected with the steering engine of rolling on body assembly；Servo driving shoulder rotating member of rolling over rotates, arm
It rotates steering engine and drives the rotation of large arm rotating member, forearm servo driving forearm rotating member swing, wrist rotation part is in wrist rudder
Swing is realized under the rotation of machine.The activity flexibility of arm component is improved, is improved flexible with the installing and dismounting of body assembly
Convenience.
Preferably, the head assembly includes head and neck, eyeball steering engine and eyeball component, face are set on head
Steering engine and face component, corners of the mouth steering engine and corners of the mouth component, eyelid steering engine and eyelid component, nod steering engine component and steering engine group of shaking the head
Part, neck bottom end is set mutually dismounts the mounting groove connecting with the head connecting platform of body assembly；Eyeball steering engine and eyeball component drive
Dynamic action expression, face steering engine and the face component of goggling is micro- for completing face opening and closing action expression and/or the corners of the mouth
It laughs at action expression, eyelid steering engine and eyelid component and acts expression for completing eyelid blink, nod steering engine component and steering engine of shaking the head
Component is nodded for action completion head and/or head shaking movement expression.Improve the installing and dismounting spirit of head assembly and body assembly
Convenience living, improves the head expressiveness of robot head parts.
The utility model has the beneficial effects that：Body assembly flexibly can easily be installed or removed with section bar component, be reduced
Packed and transported overall space size, can also dismantle section bar component when necessary, and it is empty to reduce packed and transported to a greater extent
Between size requirements, it is convenient to carry, and reduces packed and transported and storage cost, reduces maintenance cost, and installing and dismounting is safeguarded more；Main body
Component and head assembly, arm component are also Demountable, promote the flexible convenience of entire packed and transported.Robot is each
Component is detachable, is convenient for carrying, and reduces transportation cost.
Description of the drawings：
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural schematic diagram of the detachable anthropomorphic robot of the utility model.
Fig. 2 is the structural schematic diagram of head assembly in the detachable anthropomorphic robot of the utility model.
Fig. 3 is the structural schematic diagram of arm component in the detachable anthropomorphic robot of the utility model.
Fig. 4 is the structural schematic diagram of body assembly in the detachable anthropomorphic robot of the utility model.
Fig. 5 is the structural schematic diagram of the detachable anthropomorphic robot medium section component of the utility model.
Fig. 6 is the structural schematic diagram of chassis assembly in the detachable anthropomorphic robot of the utility model.
Fig. 7 is the structural representation of the slave other direction observation of chassis assembly in the detachable anthropomorphic robot of the utility model
Figure.
Specific implementation mode
In Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, embodiment shown in Fig. 7, a kind of detachable anthropomorphic robot, including
Head assembly 10, arm component 20, body assembly 40, control case assembly 30, section bar component 50 and chassis assembly 60, body assembly
Including waist platform 411, arm connecting platform 415 and head connecting platform, section bar component includes leg proximate matter and chassis proximate matter,
Leg proximate matter lower end and chassis proximate matter link together with the removable installation of chassis assembly respectively, and leg proximate matter upper end is detachable
Mutually dismount and link together with the waist platform of body assembly, arm component is connect with arm connecting platform phase reassembling type, head
Parts link together with head connecting platform phase reassembling type.Section bar component uses aluminum profile assemblies structure.On chassis assembly
Penetrating mounting holes 62 and chassis proximate matter mounting hole equipped with installation leg proximate matter.Chassis assembly include upper plate 61, lower plate 69,
The chassis assembly sensor of gusset plate, chassis idler wheel and induction robot run signal, chassis idler wheel include driving wheel 68 and by
Driving wheel 681.It is installed by fastening bolt 01 on upper plate and is linked together with the installation of chassis proximate matter, chassis proximate matter is mounted on upper bottom
Chassis space interior made of plate, lower plate and gusset plate enclose, gusset plate include two pieces of wheel bent plates 64 and two pieces of wheel end plates
67 surround and are formed by connecting, and wheel end plate 67 is slab construction, and wheel bent plate 64 is the bending plate of outside arc-shaped bend.Chassis assembly passes
Sensor includes laser radar 63, infrared distance sensor 65 and ultrasonic sensor 66.It is mounted on infrared survey on wheel bent plate 64
Away from sensor 65 and ultrasonic sensor 66, laser radar 63 is mounted on upper plate 61,
Leg proximate matter uses two groups of leg proximate matters, every group of leg proximate matter to be made of three vertical leg type material monomers 51, and three vertical
Leg type material monomer 51 is in triangular distribution arrangement architecture in the horizontal plane；Chassis proximate matter includes chassis supports column section and chassis
Support level proximate matter, connecting base plate support level proximate matter between chassis supports column section, chassis supports column section use four
Root post proximate matter monomer 54, chassis supports horizontal profile use more horizontal profile monomers, more horizontal profile monomers include with
The avris horizontal profile monomer 52 and the middle part being connected with two groups of legs proximate matter bottom end that four columns proximate matter monomer 54 is connected
Horizontal profile monomer 53, more horizontal profile monomers connect into I-shaped horizontal shore structure, I-shaped horizontal shore
Four ends of structure are connected together with four columns proximate matter monomer 54, form chassis proximate matter.Body assembly includes prebone
Frame 43, back skeleton 41, steering engine 42 of rolling over, skeleton connecting pole 414, hinge 413, rotatable platform 410, steering engine component of bending over,
It bends over crankshaft-link rod component, flange turntable 412 and waist platform 411, connecting framework connects between preceding skeleton 43 and back skeleton 41
Column 414, preceding skeleton 43 and 41 upper end of back skeleton are equipped with fold link block 417, turn down beginning portion connecting hole on link block 417
418, preceding skeleton turns over the setting of fold link block relative orientation, 43 upper end of preceding skeleton, back skeleton on folding link block and back skeleton
41 upper ends, preceding skeleton turn over fold link block on folding link block and back skeleton and collectively form head connecting platform, in preceding skeleton
43 and back skeleton 41 upper end both sides side position at set constitute arm connecting platform rollover folding link block 415, left and right arm turn
In the upper end clamping cavity that dynamic steering engine 42 is mounted on preceding skeleton and back skeleton clamping is formed, 43 bottom end of preceding skeleton passes through hinge
413 are connected on rotatable platform 410, and crankshaft-link rod component one end of bending over is connected with steering engine component of bending over, crankshaft-link rod of bending over
The component other end is connected with back skeleton, and crankshaft-link rod component of bending over is bending over to drive prebone frame and rear bone under the effect of steering engine component
Frame makees bending movements around hinge axis.Body assembly 40 can by the leg proximate matter upper end of waist platform 411 and section bar component 50
Reassembling type links together, and installing and dismounting is flexible and convenient, and crankshaft-link rod component of bending over includes crank connecting link 46, linking arm 45 and axis
Bearing 44, bearing block 44 are connected together with back skeleton 41, and 45 one end of linking arm is connected by connecting shaft with bearing block 44
Together, 45 other end of linking arm is connected together with 46 outer end of crank connecting link；Steering engine component of bending over includes bending over steering engine 47
With steering wheel 48 of bending over, steering wheel 48 of bending over, which is mounted on, bends on steering engine 47, crank connecting link inner end is set on steering wheel of bending over.It bends over steering engine
47 are mounted on and bend on steering engine fixing piece 49, bend over steering engine fixing piece 49 on the 43 lower end inside position of preceding skeleton；It realizes
The body actions such as lean forward or swing back of the upper part of the body.Arm component 20 includes shoulder steering engine 22, large arm rotating member 21, large arm steering engine
23, large arm steering engine fixing piece 24, forearm steering engine 25, forearm rotating member 26, wrist steering engine 27 and wrist rotation part 28, large arm rotation
Shoulder steering engine is set on part, shoulder steering engine is located on shoulder rotating member, and large arm steering engine is set on large arm rotating member and large arm steering engine is fixed
Part sets forearm steering engine on large arm steering engine fixing piece, and forearm rotating member is set on forearm steering engine, and wrist steering engine is set on forearm rotating member,
Wrist rotation part is set on wrist steering engine, large arm rotating member is connected with the steering engine of rolling on body assembly；It rolls over rudder
Machine drives the rotation of shoulder rotating member, steering engine of rolling over that large arm rotating member is driven to rotate, before forearm servo driving forearm rotating member
After swing, wrist rotation part realizes swing under the rotation of wrist steering engine.Head assembly 10 includes head 11,14 and of head capsule
Neck 12 sets eyeball steering engine and eyeball component 13, face steering engine and face component 15, corners of the mouth steering engine and corners of the mouth component on head 11
17, eyelid steering engine and eyelid component, nod steering engine component and steering engine component of shaking the head, neck bottom end is set to be connected with the head of body assembly
Connect the mounting groove 18 that platform mutually dismounts connection；Eyeball steering engine and eyeball Component driver goggle action expression, face steering engine and
Face component is for completing face opening and closing action expression and/or corners of the mouth smile action expression, eyelid steering engine and eyelid component
For complete eyelid blink act expression, nod steering engine component and shake the head steering engine component for act completion head nod and/or
Head shaking movement expression.Neck steering engine component 19 is installed on neck 12.Face steering engine and face component 15 drive tooth and lower jaw 16
Opening and closing campaign.It includes that front housing and rear shell form to control case assembly 30.LED touch screen is housed, device, circuit board in rear shell in front housing.
Control box is connected to by the screw hole of rear shell on body assembly skeleton.Assembling can be fast installed using bolt or screw or torn open
Packed and transported is unloaded, it is flexible and convenient quick, reduce packed and transported and storage cost.
In the description of the utility model position relationship, there is such as term "inner", "outside", "upper", "lower", "left", "right"
Equal indicating positions or position relationship are to be based on the orientation or positional relationship shown in the drawings, description embodiment merely for convenience
It is described with simplifying, does not indicate or imply the indicated device or element must have a particular orientation, with specific orientation
Construction and operation, therefore should not be understood as limiting the present invention.
The above content and structure describe the utility model product basic principles and main features and the utility model it is excellent
Point, it should be understood by those skilled in the art that.Only illustrate the principles of the present invention described in examples detailed above and specification,
On the premise of not departing from the spirit and scope of the utility model, the utility model also has various changes and improvements, these variations
It is belonged within claimed the scope of the utility model with improving.The utility model requires protection scope is wanted by appended right
Ask book and its equivalent thereof.
Claims (10)
1. a kind of detachable anthropomorphic robot, it is characterised in that：Including head assembly, arm component, body assembly, control box
Component, section bar component and chassis assembly, body assembly include waist platform, arm connecting platform and head connecting platform, proximate matter
Component includes leg proximate matter and chassis proximate matter, and leg proximate matter lower end and chassis proximate matter connect with the removable installation of chassis assembly respectively
Be connected together, leg proximate matter upper end removably mutually dismounts with the waist platform of body assembly and links together, arm component with
Arm connecting platform phase reassembling type connects, and head assembly links together with head connecting platform phase reassembling type.
2. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The section bar component uses aluminium profiles
Material modular construction.
3. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The chassis assembly is equipped with peace
Fill the penetrating mounting holes and chassis proximate matter mounting hole of leg proximate matter.
4. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The chassis assembly includes upper bottom
The chassis assembly sensor of plate, lower plate, gusset plate, chassis idler wheel and induction robot run signal, chassis idler wheel include master
Driving wheel and follower surround in the tray cavity to be formed in upper plate, lower plate and gusset plate and set chassis proximate matter.
5. detachable anthropomorphic robot according to claim 4, it is characterised in that：The chassis assembly sensor packet
Include laser radar, infrared distance sensor and ultrasonic sensor.
6. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The leg proximate matter uses two groups
Leg proximate matter, every group of leg proximate matter are made of three vertical leg type material monomers, and three vertical leg type material monomers are in the horizontal plane at triangle
Shape structure arranged evenly；Chassis proximate matter includes chassis supports column section and chassis supports horizontal profile, chassis supports upright post type
Connecting base plate support level proximate matter between material, chassis supports column section use four columns proximate matter monomer, chassis supports horizontal
Proximate matter uses more horizontal profile monomers, and more horizontal profile monomers connect into I-shaped horizontal shore structure, I-shaped
Four ends of horizontal shore structure are connected together with four columns proximate matter monomer, form chassis proximate matter.
7. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The body assembly includes prebone
Frame, back skeleton, steering engine of rolling over, skeleton connecting pole, hinge, rotatable platform, steering engine component of bending over, Crank connected rod group of bending over
Part, flange turntable and waist platform, connecting framework connecting pole between preceding skeleton and back skeleton, preceding skeleton and back skeleton upper end are equal
Equipped with fold link block, preceding skeleton turns over the setting of fold link block relative orientation, preceding skeleton upper end on folding link block and back skeleton
Head, back skeleton upper end, preceding skeleton turn over fold link block on folding link block and back skeleton and collectively form head connecting platform,
The rollover folding link block for constituting arm connecting platform, left and right arm rotation are set at the upper end both sides side position of preceding skeleton and back skeleton
In the upper end clamping cavity that skeleton and back skeleton clamping are formed before steering engine is located at, preceding skeleton bottom end is being rotated by hinge connection
On platform, crankshaft-link rod component one end of bending over is connected with steering engine component of bending over, bend over the crankshaft-link rod component other end and rear bone
Frame is connected, and crankshaft-link rod component of bending over is bending over to drive prebone frame and back skeleton to bend over around hinge axis under the effect of steering engine component
Movement.
8. detachable anthropomorphic robot according to claim 7, it is characterised in that：The crankshaft-link rod component of bending over
Including crank connecting link, linking arm and bearing block, bearing block is connected together with back skeleton, linking arm one end by connecting shaft with
Bearing block is connected together, and the linking arm other end is connected together with crank connecting link outer end；Steering engine component of bending over includes curved
Waist steering engine and steering wheel of bending over, steering wheel of bending over, which is located at, bends on steering engine, and crank connecting link inner end is set on steering wheel of bending over.
9. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The arm component includes shoulder
Steering engine, large arm rotating member, large arm steering engine, large arm steering engine fixing piece, forearm steering engine, forearm rotating member, wrist steering engine and wrist turn
Moving part sets shoulder steering engine on large arm rotating member, and shoulder steering engine is located on shoulder rotating member, set on large arm rotating member large arm steering engine and
Large arm steering engine fixing piece sets forearm steering engine on large arm steering engine fixing piece, and forearm rotating member is set on forearm steering engine, on forearm rotating member
If wrist steering engine, wrist rotation part is set on wrist steering engine, large arm rotating member is connected with the steering engine of rolling on body assembly；
Servo driving shoulder rotating member of rolling over rotates, and steering engine of rolling over drives the rotation of large arm rotating member, forearm servo driving small
Arm rotating member swing, wrist rotation part realize swing under the rotation of wrist steering engine.
10. detachable anthropomorphic robot described in accordance with the claim 1, it is characterised in that：The head assembly includes head
Portion and neck set eyeball steering engine and eyeball component, face steering engine and face component, corners of the mouth steering engine and corners of the mouth component, eye on head
Skin steering engine and eyelid component, nod steering engine component and steering engine component of shaking the head, neck bottom end set to connect with the head of body assembly and put down
Platform mutually dismounts the mounting groove of connection；Eyeball steering engine and eyeball Component driver, which goggle, acts expression, face steering engine and face group
For completing face opening and closing action expression and/or corners of the mouth smile action expression, eyelid steering engine and eyelid component have been used for part
At eyelid blink act expression, nod steering engine component and shake the head steering engine component for act completion head nod and/or shake the head it is dynamic
Make expression.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721853269.XU CN207643142U (en) | 2017-12-26 | 2017-12-26 | A kind of detachable anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721853269.XU CN207643142U (en) | 2017-12-26 | 2017-12-26 | A kind of detachable anthropomorphic robot |
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| Publication Number | Publication Date |
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| CN207643142U true CN207643142U (en) | 2018-07-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201721853269.XU Active CN207643142U (en) | 2017-12-26 | 2017-12-26 | A kind of detachable anthropomorphic robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823403A (en) * | 2019-03-01 | 2019-05-31 | 达闼科技（北京）有限公司 | A kind of robot chassis skeleton and robot |
-
2017
- 2017-12-26 CN CN201721853269.XU patent/CN207643142U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823403A (en) * | 2019-03-01 | 2019-05-31 | 达闼科技（北京）有限公司 | A kind of robot chassis skeleton and robot |
| CN109823403B (en) * | 2019-03-01 | 2021-07-06 | 达闼科技（北京）有限公司 | Robot chassis skeleton and robot |
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